.TH "Zebulon::Roboteq::AX3500" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
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.SH NAME
Zebulon::Roboteq::AX3500 \- 
.SH SYNOPSIS
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.PP
.SS "Classes"

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.RI "class \fBCallbackData\fP"
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.RI "class \fBMessage\fP"
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.SS "Public Types"

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.RI "typedef void(* \fBResponseFunctionCallback\fP )(const \fBAX3500::Message\fP *response, void *)"
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.SS "Public Member Functions"

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.RI "int \fBInitialize\fP (const std::string &port)"
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.RI "int \fBShutdown\fP ()"
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.RI "int \fBTransmitMessage\fP (const std::string &msg, \fBAX3500::Message\fP **response)"
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.RI "int \fBEnterWatchdogMode\fP ()"
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.RI "int \fBLeaveWatchdogMode\fP ()"
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.RI "int \fBResetController\fP ()"
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.RI "int \fBSendMotorCommand\fP (const char channel, const char value, bool confirm=false)"
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.RI "int \fBSendDualMotorCommand\fP (const double percentChannelOne, const double percentChannelTwo, const bool confirm=false)"
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.RI "int \fBQueryMainBatteryVoltage\fP (double &mainBattery, double &internalVoltage)"
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.RI "int \fBQueryEncoder\fP (const int encoder, const bool relative)"
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.RI "int \fBQueryEncoder\fP (const int encoder, int &value, const bool relative)"
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.RI "int \fBQueryEncoders\fP (int &enc1, int &enc2, const bool relative)"
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.RI "bool \fBIsConnected\fP () const "
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.RI "bool \fBIsInWatchdogMode\fP () const "
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.RI "void \fBRegisterCallback\fP (const char messageType, ResponseFunctionCallback callback, void *args)"
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.RI "void \fBClearCallback\fP (const char messageType)"
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.SS "Static Public Member Functions"

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.RI "static unsigned char \fBHexToByte\fP (const char hex)"
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.RI "static int \fBHexToInt\fP (const char hex)"
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.RI "static unsigned char \fBHexToUnsignedByte\fP (const char upper, const char lower)"
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.RI "static char \fBHexToSignedByte\fP (const char upper, const char lower)"
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.RI "static void \fBUnsignedByteToHex\fP (const unsigned char byte, char &upper, char &lower)"
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.RI "static void \fBSignedByteToHex\fP (const char byte, char &upper, char &lower)"
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.SS "Protected Member Functions"

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.RI "void \fBAddToMessageQueue\fP (\fBAX3500::Message\fP *msg)"
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.RI "unsigned int \fBReadQueryMessage\fP (const char *buffer, const unsigned int len)"
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.SS "Static Protected Member Functions"

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.RI "static void \fBReceiveThreadFunction\fP (void *args)"
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.SS "Protected Attributes"

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.RI "CxUtils::Mutex \fBmMessageQueueMutex\fP"
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.RI "\fIMutex for message queue. \fP"
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.RI "CxUtils::Mutex \fBmTransmittingMutex\fP"
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.RI "\fIMutex for transmitting messages. \fP"
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.RI "CxUtils::Thread \fBmReceiveThread\fP"
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.RI "\fIThread for continuous message receiving. \fP"
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.RI "CxUtils::Serial \fBmSerialPort\fP"
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.RI "\fISerial port interface for board. \fP"
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.RI "CxUtils::Mutex \fBmCallbacksMutex\fP"
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.RI "\fIMutex for thread protection of callbacks. \fP"
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.RI "Message::List \fBmMessageQueue\fP"
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.RI "\fIStores list of all messages received from board. \fP"
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.RI "volatile bool \fBmWatchDogModeFlag\fP"
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.RI "\fIIndicates the board is in watchdog mode. \fP"
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.RI "volatile bool \fBmEnterWatchDogModeFlag\fP"
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.RI "\fIIf true, interface always attempts to maintain wathdog mode. \fP"
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.RI "unsigned int \fBmMaxQueueSize\fP"
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.RI "\fISets the maximum size of queue for received messages. \fP"
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.RI "std::map< char, \fBCallbackData\fP > \fBmCallbacks\fP"
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.SH "Author"
.PP 
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